CN113334353B - Electromagnetic braking type arm power-assisted flexible exoskeleton - Google Patents
Electromagnetic braking type arm power-assisted flexible exoskeleton Download PDFInfo
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- CN113334353B CN113334353B CN202110546142.8A CN202110546142A CN113334353B CN 113334353 B CN113334353 B CN 113334353B CN 202110546142 A CN202110546142 A CN 202110546142A CN 113334353 B CN113334353 B CN 113334353B
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- wrist
- box body
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- spool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
Electromagnetic braking formula arm helping hand flexible ectoskeleton, including bearing the support, wrist clitellum and control switch, bear the support and pass through the back of baldric ligature at the human body, bear the support rear side and be equipped with a control box and two helping hand boxes, all be equipped with mechanical winder in every helping hand box and be used for braking the electro-magnet of mechanical winder, the expansion end of winding haulage rope passes helping hand box upper end and supports forward and be connected with the wrist clitellum on the baldric of shoulder, control switch sets up at the hand, be equipped with rechargeable battery and controller in the control box, the power is the power supply of controller and electro-magnet, control switch passes through the synchronous switching of two electro-magnets of controller control. The invention has scientific principle, simple structure, easy operation and strong reliability, can improve the endurance of the arm in the process of carrying heavy objects for a long distance, and the hand still grasps the heavy objects, so the bearing capacity of the invention is still within the bearing capacity of the wrist, and only the stress of the arm is reduced.
Description
Technical Field
The invention belongs to the technical field of mechanical exoskeletons, and particularly relates to an electromagnetic braking type arm power-assisted flexible exoskeleton.
Background
The flexible exoskeleton is a wearable system capable of enhancing limbs of a human body, can assist the limbs to complete certain functions and tasks under the control of a wearer, and provides protection and additional power and capacity for people. When people carry heavy objects, the hands grasp the heavy objects, a certain angle is kept between the forearms and the upper arms, and if the carrying distance is long, the upper arms and the forearms can bear the heavy objects only by strong endurance. The chinese patent application No. 201811434518.0 discloses a one-way clutch and a flexible exoskeleton, which can reduce the stress on the upper arm and the forearm when carrying heavy objects, but are difficult to popularize and apply due to the defects of complex structure, complex operation, low reliability and the like. Therefore, it is highly desirable to design an arm flexible power assisting exoskeleton with simple structure and easy operation to reduce the arm stress when carrying heavy objects over a long distance.
Disclosure of Invention
The invention aims to provide an electromagnetic braking type arm power-assisted flexible exoskeleton which is simple in structure, convenient to operate and strong in reliability.
In order to solve the technical problems, the invention adopts the following technical scheme: the electromagnetic braking type arm power-assisted flexible exoskeleton comprises a bearing support, wrist girdle bands and a control switch, wherein the bearing support is bound on the back of a human body through shoulder straps, a control box and two power-assisted boxes are arranged on the rear side of the bearing support, the two power-assisted boxes are arranged on the left side and the right side of the bearing support in a bilateral symmetry manner, a mechanical winder and an electromagnet for braking the mechanical winder are arranged in each power-assisted box, the wrist girdle bands are arranged in two numbers, each wrist girdle band is correspondingly sleeved on one wrist of the human body, the movable end of a traction rope wound on the mechanical winder penetrates through the upper end of the power-assisted box and is forwardly supported on the shoulder straps of the shoulders to be connected with the wrist girdle bands, the control switch is arranged on the hand, a rechargeable battery and a controller are arranged in the control box, a power supply supplies power to the controller and the electromagnet, and the control switch controls the two electromagnets to be synchronously switched on and switched on through the controller.
The helping hand box is the cylindric box body structure that the central line set up along the fore-and-aft direction, and the helping hand box corresponds and passes through bolted connection's preceding box body and back box body around including, and preceding box body front side fixed connection is on bearing the support, and the electro-magnet setting is in the preceding box body, and mechanical winder sets up at the back box body, and the outlet has been seted up along tangential direction at back box body circumference top.
The outlet is connected with flexible spool, and the haulage rope is worn to establish in the flexible spool, and flexible spool sets up along baldric upper portion, is equipped with the spacing knot that is used for preventing flexible spool from the skew on the baldric.
The mechanical winder comprises a central shaft, a wire spool, a coil spring and an armature plate, wherein the central shaft is arranged along the front and back direction, the rear end of the central shaft is fixedly connected with the center of a rear box body, the wire spool is coaxially and rotatably connected to the central shaft, the front side of the wire spool is provided with a limit screw which is in threaded connection with the inside of the front end of the central shaft and used for limiting the axial position of the wire spool, the rear side of the wire spool is provided with an annular groove, the coil spring is arranged in the annular groove, two spring legs of the coil spring are respectively connected with the wire spool and the central shaft, the excircle of the wire spool is provided with a wire spool groove, the front side face of the wire spool is provided with a spline along the circumferential direction, the rear side face of the armature plate is provided with a spline groove assembled corresponding to the spline, the spline is in clearance fit with the spline groove, the front side face of the armature plate and the electromagnet have a plane clearance, and the size of the plane clearance is smaller than the assembling size of the spline groove in the front and back direction.
By adopting the technical scheme, the working principle of the invention is as follows: the heavy object is moved to a certain height by both hands, the coil spring drives the wire reel to rotate anticlockwise, the traction rope retracts to the interior of the power assisting box and is wound on the wire reel, when both hands are fixed to a certain height, a control switch of the hands is started, the electromagnet is electrified to generate magnetic force, the armature disc is adsorbed to move backwards, the armature disc is adsorbed to the electromagnet, the axial movement distance of the armature disc is smaller than the axial fit size of the spline and the spline groove, the spline on the front side of the wire reel is still clamped in the spline groove on the rear side of the armature disc, the wire reel cannot rotate, the position of an arm is limited, the traction rope pulls the heavy object, the upper arm is basically free from stress, when the heavy object is carried in a long distance, the stress of the arm is relieved, and the safety of carrying operation is ensured. When the heavy object needs to be put down after the heavy object is carried in place, the control switch is started again at the moment, the electromagnet is powered off, the armature plate is separated from the electromagnet, the wire spool can rotate, the hand can move downwards, the traction rope is pulled, and the heavy object is placed in place.
The coil spring plays a role in driving the wire spool to retract the traction rope into the power assisting box. When the pulling force greater than the coil spring is received to the haulage rope, the haulage rope is pulled out from the helping hand box, can adjust the length of haulage rope like this to the position of suitable hand.
When the hauling cable plays a role in bearing and hauling heavy objects, the flexible line pipe is pressed on the shoulder straps of the shoulders, the shoulder straps play a role in relieving the pressure of the flexible line pipe on the shoulders, and the shoulder straps also play a role in positioning and bearing the support.
The flexible line pipe plays a role in guiding the hauling rope, and the limiting buckle is used for placing the flexible line pipe to be deviated to a position without shoulder straps on the shoulders, so that the shoulders of a human body are greatly stressed.
The limiting screw limits the axial position of the wire spool on the central shaft; the armature plate can generate friction with the back side surface of the electromagnet after being separated from the electromagnet, but the friction can not generate abrasion to the armature plate and the electromagnet due to the fact that the rotating speeds of the wire winding plate and the armature plate are crossed.
The front box body and the rear box body of the power assisting box are connected through bolts, so that the power assisting box is reliable in connection and easy to detach.
The electromagnetic braking mode of the invention uses an electromagnet and an armature iron arranged at the position of a wire coil to achieve the purpose of electrifying, magnetically adsorbing and braking. The control switch is arranged on the finger of the hand and is used for controlling the on-off of the electromagnet, so that the realization mode is various, for example, remote control can be adopted, and a traction line can also be adopted.
In conclusion, the invention has scientific principle, simple structure, easy operation and strong reliability, can improve the endurance of the arm in the process of carrying heavy objects in a long distance, and the bearing capacity of the invention is still within the bearing capacity of the wrist part because the hand still grasps the heavy objects, and only reduces the stress of the arm.
Drawings
FIG. 1 is a schematic view of the present invention arranged on a human body;
FIG. 2 is a perspective view of the power assist cartridge of the present invention;
fig. 3 is a schematic plan view of the power assisting box of the present invention.
Fig. 4 isbase:Sub>A sectional viewbase:Sub>A-base:Sub>A in fig. 3.
FIG. 5 is a cross-sectional view B-B of FIG. 3;
figure 6 is an exploded view of the power assist cartridge.
Detailed Description
As shown in fig. 1-6, the electromagnetic braking type arm power-assisted flexible exoskeleton comprises a bearing support 1, wrist belts 2 and a control switch (not shown), wherein the bearing support 1 is bound on the back of a human body through shoulder straps 3, a control box 4 and two power-assisted boxes 5 are arranged on the rear side of the bearing support 1, the two power-assisted boxes 5 are arranged on the left side and the right side of the bearing support 1 in a bilateral symmetry manner, each power-assisted box 5 is internally provided with a mechanical winder and an electromagnet 6 for braking the mechanical winder, the wrist belts 2 are provided with two, each wrist belt 2 is correspondingly sleeved on one wrist part of the human body, a movable end of a traction rope 21 wound on the mechanical winder penetrates through the upper end of the power-assisted box 5 and is forwardly supported on the shoulder straps 3 of the shoulder part to be connected with the wrist belts 2, the control switch is arranged on the hand part, a rechargeable battery and a controller are arranged in the control box 4, the rechargeable battery supplies power to the controller and the electromagnet 6, and the control switch controls the two electromagnets 6 to be synchronously opened and closed through the controller.
Helping hand box 5 is the cylindric box body structure that the central line set up along the fore-and-aft direction, and helping hand box 5 corresponds and passes through preceding box body 8 and back box body 9 of bolted connection around including, and preceding 8 front sides of box body are fixed connection on bearing support 1, and electro-magnet 6 sets up in the box body 8 in the front, and mechanical winder sets up at back box body 9, and outlet 10 has been seted up along the tangential direction at 9 circumference tops of back box body.
The outlet 10 is connected with a flexible conduit 11, the hauling cable 21 is arranged in the flexible conduit 11 in a penetrating way, the flexible conduit 11 is arranged along the upper part of the shoulder strap 3, and the shoulder strap 3 is provided with a limit buckle 12 for preventing the flexible conduit 11 from deviating from the shoulder strap 3.
The mechanical winder comprises a central shaft 13, a wire spool 14, a coil spring 15 and an armature plate 16, wherein the central shaft 13 is arranged along the front-back direction, the rear end of the central shaft 13 is fixedly connected at the center of the rear box body 9, the wire spool 14 is coaxially and rotatably connected on the central shaft 13, a limit screw 17 which is in threaded connection with the inside of the front end of the central shaft 13 and used for limiting the axial position of the wire spool 14 is arranged on the front side of the wire spool 14, an annular groove is arranged on the rear side of the wire spool 14, the coil spring 15 is arranged in the annular groove, two spring legs of the coil spring 15 are respectively connected with the wire spool 14 and the central shaft 13, a wire spool 18 is arranged on the outer circle of the wire spool 14, a spline 19 is arranged on the front side of the wire spool 14 along the circumferential direction, a spline groove 22 which is correspondingly assembled with the spline 19 is arranged on the rear side of the armature plate 16, the spline 19 is in clearance fit with the spline groove 22, a plane clearance 20 is arranged on the front side of the armature plate 16 and the electromagnet 6, and the size of the plane clearance 20 is smaller than the assembling size of the spline groove 19 and the spline groove 22 in the front-back direction.
The working principle of the invention is as follows: the heavy object is carried by two hands to a certain height, the coil spring 15 drives the wire reel 14 to rotate anticlockwise, the traction rope 21 retracts into the power assisting box 5 and is wound on the wire reel 14, when the two hands are fixed to a certain height, a control switch of the hands is started, the electromagnet 6 is electrified to generate magnetic force, the adsorption armature disc 16 moves backwards, the armature disc 16 is adsorbed on the electromagnet 6, the axial movement distance of the armature disc 16 is smaller than the axial matching size of the spline 19 and the spline groove 22, the spline 19 on the front side of the wire reel 14 is still clamped in the spline groove 22 on the rear side of the armature disc 16, the wire reel 14 is limited not to rotate, the position of an arm is fixed, the traction rope 21 pulls the heavy object, the upper arm is basically not stressed any more, when the heavy object is carried in a long distance, the stress of the arm is relieved, and the safety of carrying operation is ensured. When the heavy object needs to be put down after being carried in place, the control switch is started again, the electromagnet 6 is powered off, the armature disc 16 is separated from the electromagnet 6, the wire spool 14 can rotate, the hand can move downwards, the traction rope 21 is pulled, and the heavy object is placed in place.
The coil spring 15 functions to drive the spool 14 to retract the traction rope 21 into the power assisting case 5. When the traction rope 21 receives a pulling force larger than the coil spring 15, the traction rope 21 is pulled out from the power assisting box 5, so that the length of the traction rope 21 can be adjusted to be suitable for the position of the hand.
When the hauling cable 21 plays a role of bearing and hauling heavy objects, the flexible line pipe 11 presses on the shoulder strap 3 of the shoulder, and the shoulder strap 3 plays a role of relieving the shoulder tightening pressure of the flexible line pipe 11 and also plays a role of positioning and bearing the support 1.
The flexible conduit 11 plays a role of guiding the hauling rope 21, and the limit buckle 12 is used for placing the flexible conduit 11 to be offset to the position without the shoulder belt 3 on the shoulder, thereby causing larger pressure on the shoulder of the human body.
The limit screw 17 defines the axial position of the spool 14 on the central shaft 13; armature plate 16, when disengaged from electromagnet 6, rubs against the back side of electromagnet 6, but because of the low rotational speed of spool 14 and armature plate 16, the friction does not wear armature plate 16 and electromagnet 6.
The front box body 8 and the rear box body 9 of the power assisting box 5 are connected through the bolts 7, so that the power assisting box is reliable in connection and easy to detach.
The electromagnetic braking mode of the invention uses the electromagnet 6 and the armature iron arranged at the position of the wire coil to achieve the purpose of electrifying, absorbing and braking by magnetic force. Because the control switch is arranged at the finger of the hand and is provided with a simple control switch for controlling the on-off of the electromagnet 6, the realization mode is various, for example, remote control can be adopted, and a traction line can also be adopted.
The foregoing embodiments are illustrative of the principles and features of the present invention, but the foregoing is illustrative of only preferred embodiments of the invention and is not to be construed as limiting thereof. In the light of this patent, those skilled in the art can make various changes and modifications without departing from the spirit of the invention and the scope of the appended claims. Therefore, the patent and protection scope of the present invention should be subject to the appended claims.
Claims (2)
1. Electromagnetic braking formula arm helping hand flexible ectoskeleton, its characterized in that: the backpack type hand-held power assisting device comprises a backpack support, two wrist girdle bands and a control switch, wherein the backpack support is bound on the back of a human body through shoulder straps, a control box and two power assisting boxes are arranged on the rear side of the backpack support, the two power assisting boxes are arranged on the left side and the right side of the backpack support in a bilateral symmetry manner, each power assisting box is internally provided with a mechanical winder and an electromagnet for braking the mechanical winder, the wrist girdle bands are provided with two wrist girdle bands, each wrist girdle band is correspondingly sleeved on one wrist part of the human body, the movable end of a traction rope wound on the mechanical winder penetrates through the upper end of the power assisting box and is forwardly supported on the shoulder straps on the shoulders to be connected with the wrist girdle bands, the control switch is arranged on the hand, a rechargeable battery and a controller are arranged in the control box, a power supply supplies power to the controller and the electromagnets, and the control switch controls the two electromagnets to be synchronously opened and closed through the controller;
the power assisting box is of a cylindrical box body structure, the central line of the power assisting box is arranged along the front-back direction, the power assisting box comprises a front box body and a rear box body which correspond to each other in the front-back direction and are connected through bolts, the front side of the front box body is fixedly connected to the backpack support, the electromagnet is arranged in the front box body, the mechanical winder is arranged in the rear box body, and the top of the circumference of the rear box body is provided with a wire outlet along the tangential direction;
the mechanical winder comprises a central shaft, a wire spool, a coil spring and an armature plate, wherein the central shaft is arranged along the front and back direction, the rear end of the central shaft is fixedly connected with the center of a rear box body, the wire spool is coaxially and rotatably connected to the central shaft, the front side of the wire spool is provided with a limit screw which is in threaded connection with the inside of the front end of the central shaft and used for limiting the axial position of the wire spool, the rear side of the wire spool is provided with an annular groove, the coil spring is arranged in the annular groove, two spring legs of the coil spring are respectively connected with the wire spool and the central shaft, the excircle of the wire spool is provided with a wire spool groove, the front side face of the wire spool is provided with a spline along the circumferential direction, the rear side face of the armature plate is provided with a spline groove assembled corresponding to the spline, the spline is in clearance fit with the spline groove, the front side face of the armature plate and the electromagnet have a plane clearance, and the size of the plane clearance is smaller than the assembling size of the spline groove in the front and back direction.
2. The electromagnetic braking arm assist flexible exoskeleton of claim 1, wherein: the outlet is connected with flexible spool, and the haulage rope is worn to establish in the flexible spool, and flexible spool sets up along baldric upper portion, is equipped with the spacing knot that is used for preventing flexible spool from the skew on the baldric.
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| CN202110546142.8A CN113334353B (en) | 2021-05-19 | 2021-05-19 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
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| CN202110546142.8A CN113334353B (en) | 2021-05-19 | 2021-05-19 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
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| CN113334353A CN113334353A (en) | 2021-09-03 |
| CN113334353B true CN113334353B (en) | 2023-03-24 |
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| CN113954052A (en) * | 2021-11-17 | 2022-01-21 | 黄河科技学院 | Wearable flexible arm exoskeleton pneumatic power assisting device |
| CN114923548B (en) * | 2022-05-19 | 2024-03-22 | 迈宝智能科技(苏州)有限公司 | Waist transport helping hand ectoskeleton heavy object detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110394783A (en) * | 2019-07-17 | 2019-11-01 | 军事科学院系统工程研究院军需工程技术研究所 | A kind of assistance type lower limb exoskeleton device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2358269Y (en) * | 1997-09-24 | 2000-01-12 | 沈茂昆 | Air pressure auxiliary spring coiling type clutch |
| CN106625612B (en) * | 2017-02-28 | 2024-03-08 | 深圳龙海特机器人科技有限公司 | Wearable auxiliary carrying device |
| CN110202542B (en) * | 2017-09-07 | 2022-08-23 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN107569792B (en) * | 2017-10-26 | 2020-05-05 | 国网辽宁省电力有限公司经济技术研究院 | Anti-falling device for operation of steel pipe pole of power transmission line |
| CN109291038B (en) * | 2018-09-28 | 2024-02-27 | 赤源动力（大连）科技有限责任公司 | Wearable shoulder assistance exoskeleton |
| CN110328654B (en) * | 2019-07-17 | 2021-06-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive knee joint power assisting system and method |
| CN111388270A (en) * | 2020-03-15 | 2020-07-10 | 杭州理电智能科技有限公司 | One-to-many rope driving mechanism for upper limb flexible exoskeleton application |
| CN112589777A (en) * | 2020-12-16 | 2021-04-02 | 山东中科先进技术研究院有限公司 | Rope-pulling type upper limb power-assisted robot |
| CN112549002A (en) * | 2020-12-22 | 2021-03-26 | 山东中科先进技术研究院有限公司 | Upper limb exoskeleton power assisting device and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110394783A (en) * | 2019-07-17 | 2019-11-01 | 军事科学院系统工程研究院军需工程技术研究所 | A kind of assistance type lower limb exoskeleton device |
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